diff --git a/wpilibc/src/main/native/cpp/PWMSpeedController.cpp b/wpilibc/src/main/native/cpp/PWMSpeedController.cpp
index 51d6810476..413bf97f7b 100644
--- a/wpilibc/src/main/native/cpp/PWMSpeedController.cpp
+++ b/wpilibc/src/main/native/cpp/PWMSpeedController.cpp
@@ -13,7 +13,7 @@ void PWMSpeedController::Set(double speed) {
 }
 
 double PWMSpeedController::Get() const {
-  return GetSpeed();
+  return GetSpeed() * (m_isInverted ? -1.0 : 1.0);
 }
 
 void PWMSpeedController::SetInverted(bool isInverted) {
diff --git a/wpilibc/src/main/native/include/frc/PWMSpeedController.h b/wpilibc/src/main/native/include/frc/PWMSpeedController.h
index 7cabe27d1d..3d12fb70c6 100644
--- a/wpilibc/src/main/native/include/frc/PWMSpeedController.h
+++ b/wpilibc/src/main/native/include/frc/PWMSpeedController.h
@@ -28,7 +28,9 @@ class PWMSpeedController : public PWM, public SpeedController {
   void Set(double value) override;
 
   /**
-   * Get the recently set value of the PWM.
+   * Get the recently set value of the PWM. This value is affected by the
+   * inversion property. If you want the value that is sent directly to the
+   * SpeedController, use {@link PWM#getSpeed()} instead.
    *
    * @return The most recently set value for the PWM between -1.0 and 1.0.
    */
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java
index ea4b7aaf8c..1c9801fc40 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java
@@ -40,13 +40,15 @@ public abstract class PWMSpeedController extends PWM implements SpeedController
   }
 
   /**
-   * Get the recently set value of the PWM.
+   * Get the recently set value of the PWM. This value is affected by the inversion property. If you
+   * want the value that is sent directly to the SpeedController, use {@link
+   * edu.wpi.first.wpilibj.PWM#getSpeed()} instead.
    *
    * @return The most recently set value for the PWM between -1.0 and 1.0.
    */
   @Override
   public double get() {
-    return getSpeed();
+    return getSpeed() * (m_isInverted ? -1.0 : 1.0);
   }
 
   @Override